diff --git a/src/visualisation/path_planning_visualiser/launch/path_planning_visualiser.launch.py b/src/visualisation/path_planning_visualiser/launch/path_planning_visualiser.launch.py
new file mode 100644
index 0000000..04b947d
--- /dev/null
+++ b/src/visualisation/path_planning_visualiser/launch/path_planning_visualiser.launch.py
@@ -0,0 +1,18 @@
+#Command to launch: ros2 launch path_planning_visualiser path_planning_visualiser.launch.py
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='path_planning_visualiser',
+            executable='visualiser2',
+            name='visualise_trajectories_demo'
+        ),
+        Node(
+            package='path_planning_visualiser',
+            executable='visualiser',
+            name='visualise_trajectories'
+        )
+    ])
\ No newline at end of file
diff --git a/src/visualisation/path_planning_visualiser/setup.py b/src/visualisation/path_planning_visualiser/setup.py
index f0791af..d7fe2ad 100644
--- a/src/visualisation/path_planning_visualiser/setup.py
+++ b/src/visualisation/path_planning_visualiser/setup.py
@@ -1,4 +1,6 @@
 from setuptools import find_packages, setup
+import os
+from glob import glob
 
 package_name = 'path_planning_visualiser'
 
@@ -10,6 +12,8 @@
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
+        # launch files
+        (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*.py*'))),
     ],
     install_requires=['setuptools'],
     zip_safe=True,